Modular Self-reconfigurable Robot Systems: Challenges and Opportunities for the Future,
Yim M, Shen W-M, Salemi B, Rus D, Moll M, Lipson H, Klavins E
, IEEE Robotics & Automation Magazine, March, Volume 14, Number 1, (2007)
Manipulation of Pose Distributions,
Moll M, Erdmann MA, and and Rus BRM
, Algorithmic and Computational Robotics: New Directions, p.127--141, (2001)